Nonsmooth Control-Lyapunov Functions

Abstract

It is shown that the existence of a continuous controlLyapunov function (CLF) is necessary and sufficient for null asymptotic controllability of nonlinear finitedimensional control systems. The CLF condition is expressed in terms of a concept of generalized derivative that has been studied in set-valued analysis and the theory of differential inclusions… (More)

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@inproceedings{Sontag1995NonsmoothCF, title={Nonsmooth Control-Lyapunov Functions}, author={Eduardo D. Sontag}, year={1995} }